Physics based rope simulation for haptic rendering

1
Physics based rope simulation for haptic
rendering

• 2006. 11. 6 POSTECH VRLab
• Lee, Chaehyun xlos_at_postech.ac.kr
• Han, Gabjong hkj84_at_postech.ac.kr

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Goal

• To simulate a rope based on Physics
• To give a user visual and haptic feeling

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Term

• Haptic?
• Sense of touch
• Tactile Kinesthetic force
• Haptic Interface?
• A device which allows a user to interact with a
  computer by receiving tactile feedback
• Haptic rendering?
• The process of computing and generating forces in
  response to user interactions with virtual
  objects

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Motivation

• Previous haptic rendering
• Based on penalty method
• To determine the feedback force directly from
  penetration depth
• Work well for simple objects, but it is not
  suitable for a deformable or dynamic object, like
  a rope
• Therefore, we propose the new method which are
  widely used in Computer Animation

?
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Physics based rope simulation

• Why rope?
• It has a proper weight which generates a force
  for a user
• It is easy to simulate
• Needed Forces
• Gravity
• Resisting force of air
• Tension of rope
• Friction?

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Our Plan

• To implement the data structure which can
  represent a rope
• To develop a simple physical simulation engine
• To study force which is applied to a rope in real
  world
• To find appropriate parameters for a plausible
  scene
• To compute the force in respond to a user

Assignment
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Reference

• http//www.sensable.com
• http//robot.kaist.ac.kr/kyungku/hapticrendering.
  htm
• K. Salisbury, F. Conti and F. Barbagli, "Haptic
  Rendering Introductory Concepts", IEEE CGA,
  March/April 2004.